Don't validate data_out if it is empty (backport #391)

control_toolbox/CMakeLists.txt

@@ -46,6 +46,7 @@ target_include_directories(control_toolbox PUBLIC
 target_link_libraries(control_toolbox PUBLIC
   ${control_msgs_TARGETS}
   ${rcl_interfaces_TARGETS}
+  fmt::fmt
   rclcpp::rclcpp
   rcutils::rcutils
   realtime_tools::realtime_tools

control_toolbox/include/control_toolbox/filter_traits.hpp

@@ -0,0 +1,267 @@
+// Copyright (c) 2025, ros2_control development team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CONTROL_TOOLBOX__FILTER_TRAITS_HPP_
+#define CONTROL_TOOLBOX__FILTER_TRAITS_HPP_
+
+#define EIGEN_INITIALIZE_MATRICES_BY_NAN
+
+#include <fmt/core.h>
+#include <Eigen/Dense>
+#include <algorithm>
+#include <cmath>
+#include <limits>
+#include <stdexcept>
+#include <vector>
+
+#include "geometry_msgs/msg/wrench_stamped.hpp"
+
+namespace control_toolbox
+{
+
+template <typename T>
+struct FilterTraits;
+
+// Wrapper around std::vector<U> to be used as
+// the std::vector<U> StorageType specialization.
+// This is a workaround for the fact that
+// std::vector<U>'s operator* and operator+ cannot be overloaded.
+template <typename U>
+struct FilterVector
+{
+  std::vector<U> data;
+
+  FilterVector() = default;
+
+  explicit FilterVector(const std::vector<U> & vec) : data(vec) {}
+
+  explicit FilterVector(size_t size, const U & initial_value = U{}) : data(size, initial_value) {}
+
+  FilterVector operator*(const U & scalar) const
+  {
+    FilterVector result = *this;
+    for (auto & val : result.data)
+    {
+      val *= scalar;
+    }
+    return result;
+  }
+
+  FilterVector operator+(const FilterVector & other) const
+  {
+    if (data.size() != other.data.size())
+    {
+      throw std::runtime_error(
+        fmt::format(
+          "Vectors must be of the same size for addition ({} vs {}).", data.size(),
+          other.data.size()));
+    }
+    FilterVector result = *this;
+    for (size_t i = 0; i < data.size(); ++i)
+    {
+      result.data[i] += other.data[i];
+    }
+    return result;
+  }
+
+  size_t size() const { return data.size(); }
+};
+
+// Enable scalar * FilterVector
+template <typename U>
+inline FilterVector<U> operator*(const U & scalar, const FilterVector<U> & vec)
+{
+  return vec * scalar;
+}
+
+template <typename T>
+struct FilterTraits
+{
+  using StorageType = T;
+
+  static void initialize(StorageType & storage)
+  {
+    storage = T{std::numeric_limits<T>::quiet_NaN()};
+  }
+
+  static bool is_nan(const StorageType & storage) { return std::isnan(storage); }
+
+  static bool is_finite(const StorageType & storage) { return std::isfinite(storage); }
+
+  static bool is_empty(const StorageType & storage)
+  {
+    (void)storage;
+    return false;
+  }
+
+  static void assign(StorageType & storage, const StorageType & data_in) { storage = data_in; }
+
+  static void validate_input(const T & data_in, const StorageType & filtered_value, T & data_out)
+  {
+    (void)data_in;
+    (void)filtered_value;
+    (void)data_out;  // Suppress unused warnings
+  }
+
+  static void add_metadata(StorageType & storage, const StorageType & data_in)
+  {
+    (void)storage;
+    (void)data_in;
+  }
+};
+
+template <>
+struct FilterTraits<geometry_msgs::msg::WrenchStamped>
+{
+  using StorageType = Eigen::Matrix<double, 6, 1>;
+  using DataType = geometry_msgs::msg::WrenchStamped;
+
+  static void initialize(StorageType & storage)
+  {
+    // Evocation of the default constructor through EIGEN_INITIALIZE_MATRICES_BY_NAN
+    storage = StorageType();
+  }
+
+  static bool is_nan(const StorageType & storage) { return storage.hasNaN(); }
+
+  static bool is_finite(const DataType & data)
+  {
+    return std::isfinite(data.wrench.force.x) && std::isfinite(data.wrench.force.y) &&
+           std::isfinite(data.wrench.force.z) && std::isfinite(data.wrench.torque.x) &&
+           std::isfinite(data.wrench.torque.y) && std::isfinite(data.wrench.torque.z);
+  }
+
+  static bool is_empty(const StorageType & storage)
+  {
+    (void)storage;
+    return false;
+  }
+
+  static void assign(DataType & data_in, const StorageType & storage)
+  {
+    data_in.wrench.force.x = storage[0];
+    data_in.wrench.force.y = storage[1];
+    data_in.wrench.force.z = storage[2];
+    data_in.wrench.torque.x = storage[3];
+    data_in.wrench.torque.y = storage[4];
+    data_in.wrench.torque.z = storage[5];
+  }
+
+  static void assign(StorageType & storage, const DataType & data_in)
+  {
+    storage[0] = data_in.wrench.force.x;
+    storage[1] = data_in.wrench.force.y;
+    storage[2] = data_in.wrench.force.z;
+    storage[3] = data_in.wrench.torque.x;
+    storage[4] = data_in.wrench.torque.y;
+    storage[5] = data_in.wrench.torque.z;
+  }
+
+  static void assign(StorageType & storage, const StorageType & data_in) { storage = data_in; }
+
+  static void validate_input(
+    const DataType & data_in, const StorageType & filtered_value, DataType & data_out)
+  {
+    (void)filtered_value;  // filtered_value has no header
+
+    // Compare new input's frame_id with previous output's frame_id,
+    // but only if it existed (filter_chains does not initialize output)
+    if (!data_out.header.frame_id.empty() && data_in.header.frame_id != data_out.header.frame_id)
+    {
+      throw std::runtime_error(
+        "Frame ID changed between filter updates! Out: " + data_out.header.frame_id +
+        ", In: " + data_in.header.frame_id);
+    }
+  }
+
+  static void add_metadata(DataType & data_out, const DataType & data_in)
+  {
+    data_out.header = data_in.header;
+  }
+};
+
+template <typename U>
+struct FilterTraits<std::vector<U>>
+{
+  using StorageType = FilterVector<U>;
+  using DataType = std::vector<U>;
+
+  static void initialize(StorageType & storage) { (void)storage; }
+
+  static bool is_finite(const StorageType & storage)
+  {
+    return std::all_of(
+      storage.data.begin(), storage.data.end(), [](U val) { return std::isfinite(val); });
+  }
+
+  static bool is_finite(const DataType & storage)
+  {
+    return std::all_of(storage.begin(), storage.end(), [](U val) { return std::isfinite(val); });
+  }
+
+  static bool is_empty(const StorageType & storage) { return storage.data.empty(); }
+
+  static bool is_nan(const StorageType & storage)
+  {
+    for (const auto & val : storage.data)
+    {
+      if (std::isnan(val))
+      {
+        return true;
+      }
+    }
+
+    return false;
+  }
+
+  static void assign(StorageType & storage, const DataType & data_in) { storage.data = data_in; }
+
+  static void assign(DataType & storage, const StorageType & data_in) { storage = data_in.data; }
+
+  static void assign(StorageType & storage, const StorageType & data_in)
+  {
+    storage.data = data_in.data;
+  }
+
+  static void validate_input(
+    const DataType & data_in, const StorageType & filtered_value, DataType & data_out)
+  {
+    if (data_in.size() != filtered_value.size())
+    {
+      throw std::runtime_error(
+        fmt::format(
+          "Input vector size ({}) does not match internal state size ({}).", data_in.size(),
+          filtered_value.size()));
+    }
+    // Compare new input's size with output's size,
+    // but only if it existed (filter_chains does not initialize output)
+    if (!data_out.empty() && data_out.size() != data_in.size())
+    {
+      throw std::runtime_error(
+        fmt::format(
+          "Input and output vectors must be the same size, {} vs {}.", data_out.size(),
+          data_in.size()));
+    }
+  }
+
+  static void add_metadata(DataType & storage, const DataType & data_in)
+  {
+    (void)storage;
+    (void)data_in;
+  }
+};
+
+}  // namespace control_toolbox
+
+#endif  // CONTROL_TOOLBOX__FILTER_TRAITS_HPP_

control_toolbox/package.xml

@@ -22,6 +22,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>ros2_control_cmake</build_depend>
+  <build_depend>fmt</build_depend>
 
   <depend>control_msgs</depend>
   <depend>eigen</depend>